Team for Research in
Ubiquitous Secure Technology

Citation
Menasheh Fogel, Nathan Burkhart, Hongliang Ren, Jeremy Schiff, Max Meng, Ken Goldberg. "Automated Tracking of Pallets in Warehouses: Beacon Layout and Asymmetric Ultrasound Observation Models,". Third IEEE Conference on Automation Science and Engineering (CASE),, September, 2007.

Abstract
We consider the use of wireless sensor networks to automatically track “perceptive pallets” of materials in warehouses for the purpose of monitoring volumetric and spatial constraints. A combination of radio frequency and ultrasound chirping produces position estimates that are noisy and prone to error. To address this, we measure and characterize the ultrasound response from standard “Cricket” wireless sensor motes and beacons. We develop a non-parametric particle filtering approach to estimate trajectories of moving motes and introduce two asymmetric observation models that incorporate measured cardioid-shaped response patterns of ultrasound. We use simulation to study the effects of mote placement: position error as a function of ceiling height and beacon density, and then perform physical experiments to evaluate the effectiveness of asymmetric vs. symmetric observation models for pallet tracking. Experiments suggest that asymmetric observation models can improve position estimates by as much as 11%.

Electronic downloads

• fogel-CASE07_0166_FI.pdf · application/pdf · 741 kbytes

• HTML

  Menasheh Fogel, Nathan Burkhart, Hongliang Ren, Jeremy
  Schiff, Max Meng, Ken Goldberg. <a
  href="http://www.truststc.org/pubs/707.html"
  >Automated Tracking of Pallets in Warehouses: Beacon
  Layout and Asymmetric Ultrasound Observation
  Models,</a>, Third IEEE Conference on Automation
  Science and Engineering (CASE),, September, 2007.

• Plain text

  Menasheh Fogel, Nathan Burkhart, Hongliang Ren, Jeremy
  Schiff, Max Meng, Ken Goldberg. "Automated Tracking of
  Pallets in Warehouses: Beacon Layout and Asymmetric
  Ultrasound Observation Models,". Third IEEE Conference
  on Automation Science and Engineering (CASE),, September,
  2007.

• BibTeX

  @inproceedings{FogelBurkhartRenSchiffMengGoldberg07_AutomatedTrackingOfPalletsInWarehousesBeaconLayoutAsymmetric,
      author = {Menasheh Fogel and Nathan Burkhart and Hongliang
                Ren and Jeremy Schiff and Max Meng and Ken Goldberg},
      title = {Automated Tracking of Pallets in Warehouses:
                Beacon Layout and Asymmetric Ultrasound
                Observation Models,},
      booktitle = {Third IEEE Conference on Automation Science and
                Engineering (CASE),},
      month = {September},
      year = {2007},
      abstract = {We consider the use of wireless sensor networks to
                automatically track �perceptive pallets� of
                materials in warehouses for the purpose of
                monitoring volumetric and spatial constraints. A
                combination of radio frequency and ultrasound
                chirping produces position estimates that are
                noisy and prone to error. To address this, we
                measure and characterize the ultrasound response
                from standard �Cricket� wireless sensor motes
                and beacons. We develop a non-parametric particle
                filtering approach to estimate trajectories of
                moving motes and introduce two asymmetric
                observation models that incorporate measured
                cardioid-shaped response patterns of ultrasound.
                We use simulation to study the effects of mote
                placement: position error as a function of ceiling
                height and beacon density, and then perform
                physical experiments to evaluate the effectiveness
                of asymmetric vs. symmetric observation models for
                pallet tracking. Experiments suggest that
                asymmetric observation models can improve position
                estimates by as much as 11%.},
      URL = {http://www.truststc.org/pubs/707.html}
  }
  

Posted by Jessica Gamble on 5 Apr 2010.
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